Configuration Sampling | Random sampling of robot configurations for random path planning |
Path planning algorithms | Path planning algorithms derive from class hpp::core::PathPlanner |
Path Optimization | Path optimization algorithms derive from class hpp::core::PathOptimizer |
Steering method and distance functions | Some system are subject to kinematic or dynamic constraints |
Validation of configurations and paths | Paths and configurations need to be validated with respect to various criteria (collision, joint bounds,...) during path planning and path optimization |
Roadmap | Random sampling algorithm build a representation of the free configuration space as a graph called a roadmap |
Constraints | Some robots can be subject to constraints |